From 2407157c9cd3fa2a25d4da4cc05f79d33e69274d Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 30 Apr 2015 14:35:00 +0300
Subject: [PATCH] Passing priority value of received transfers to application

---
 libuavcan/include/uavcan/node/generic_subscriber.hpp     | 1 +
 libuavcan/include/uavcan/transport/transfer_listener.hpp | 8 ++++++--
 libuavcan/src/transport/uc_transfer_listener.cpp         | 8 ++++----
 3 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/libuavcan/include/uavcan/node/generic_subscriber.hpp b/libuavcan/include/uavcan/node/generic_subscriber.hpp
index 8b7ddb320f..e3d51c9440 100644
--- a/libuavcan/include/uavcan/node/generic_subscriber.hpp
+++ b/libuavcan/include/uavcan/node/generic_subscriber.hpp
@@ -63,6 +63,7 @@ public:
         return safeget<MonotonicTime, &IncomingTransfer::getMonotonicTimestamp>();
     }
     UtcTime getUtcTimestamp()        const { return safeget<UtcTime, &IncomingTransfer::getUtcTimestamp>(); }
+    TransferPriority getPriority()   const { return safeget<TransferPriority, &IncomingTransfer::getPriority>(); }
     TransferType getTransferType()   const { return safeget<TransferType, &IncomingTransfer::getTransferType>(); }
     TransferID getTransferID()       const { return safeget<TransferID, &IncomingTransfer::getTransferID>(); }
     NodeID getSrcNodeID()            const { return safeget<NodeID, &IncomingTransfer::getSrcNodeID>(); }
diff --git a/libuavcan/include/uavcan/transport/transfer_listener.hpp b/libuavcan/include/uavcan/transport/transfer_listener.hpp
index 9c251d276d..dc0bc66ad2 100644
--- a/libuavcan/include/uavcan/transport/transfer_listener.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_listener.hpp
@@ -25,6 +25,7 @@ class UAVCAN_EXPORT IncomingTransfer : public ITransferBuffer
 {
     MonotonicTime ts_mono_;
     UtcTime ts_utc_;
+    TransferPriority transfer_priority_;
     TransferType transfer_type_;
     TransferID transfer_id_;
     NodeID src_node_id_;
@@ -34,10 +35,12 @@ class UAVCAN_EXPORT IncomingTransfer : public ITransferBuffer
     virtual int write(unsigned offset, const uint8_t* data, unsigned len);
 
 protected:
-    IncomingTransfer(MonotonicTime ts_mono, UtcTime ts_utc, TransferType transfer_type,
-                     TransferID transfer_id, NodeID source_node_id, uint8_t iface_index)
+    IncomingTransfer(MonotonicTime ts_mono, UtcTime ts_utc, TransferPriority transfer_priority,
+                     TransferType transfer_type, TransferID transfer_id, NodeID source_node_id,
+                     uint8_t iface_index)
         : ts_mono_(ts_mono)
         , ts_utc_(ts_utc)
+        , transfer_priority_(transfer_priority)
         , transfer_type_(transfer_type)
         , transfer_id_(transfer_id)
         , src_node_id_(source_node_id)
@@ -57,6 +60,7 @@ public:
 
     MonotonicTime getMonotonicTimestamp() const { return ts_mono_; }
     UtcTime getUtcTimestamp()             const { return ts_utc_; }
+    TransferPriority getPriority()        const { return transfer_priority_; }
     TransferType getTransferType()        const { return transfer_type_; }
     TransferID getTransferID()            const { return transfer_id_; }
     NodeID getSrcNodeID()                 const { return src_node_id_; }
diff --git a/libuavcan/src/transport/uc_transfer_listener.cpp b/libuavcan/src/transport/uc_transfer_listener.cpp
index 6a5d38fbec..a48878f0c1 100644
--- a/libuavcan/src/transport/uc_transfer_listener.cpp
+++ b/libuavcan/src/transport/uc_transfer_listener.cpp
@@ -22,8 +22,8 @@ int IncomingTransfer::write(unsigned, const uint8_t*, unsigned)
  * SingleFrameIncomingTransfer
  */
 SingleFrameIncomingTransfer::SingleFrameIncomingTransfer(const RxFrame& frm)
-    : IncomingTransfer(frm.getMonotonicTimestamp(), frm.getUtcTimestamp(), frm.getTransferType(),
-                       frm.getTransferID(), frm.getSrcNodeID(), frm.getIfaceIndex())
+    : IncomingTransfer(frm.getMonotonicTimestamp(), frm.getUtcTimestamp(), frm.getPriority(),
+                       frm.getTransferType(), frm.getTransferID(), frm.getSrcNodeID(), frm.getIfaceIndex())
     , payload_(frm.getPayloadPtr())
     , payload_len_(uint8_t(frm.getPayloadLen()))
 {
@@ -60,8 +60,8 @@ bool SingleFrameIncomingTransfer::isAnonymousTransfer() const
  */
 MultiFrameIncomingTransfer::MultiFrameIncomingTransfer(MonotonicTime ts_mono, UtcTime ts_utc,
                                                        const RxFrame& last_frame, TransferBufferAccessor& tba)
-    : IncomingTransfer(ts_mono, ts_utc, last_frame.getTransferType(), last_frame.getTransferID(),
-                       last_frame.getSrcNodeID(), last_frame.getIfaceIndex())
+    : IncomingTransfer(ts_mono, ts_utc, last_frame.getPriority(), last_frame.getTransferType(),
+                       last_frame.getTransferID(), last_frame.getSrcNodeID(), last_frame.getIfaceIndex())
     , buf_acc_(tba)
 {
     UAVCAN_ASSERT(last_frame.isValid());